Bachelor and Master Theses

Control algorithms are designed based on the characteristics of the controlled plants and they require good performance despite delays introduced by the digital control implementation. These delays are time varying and can degrade the system performance or even make it unstable. Time varying delay, or simply jitter, is generated because of insufficient CPU processing power and the limitations of the real-time scheduling method used. One way to evaluate the effect of jitter in control systems is by using jitter margin approach which gives the maximum jitter that guarantee system performance and stability as function of minimum time delay.

We propose a real-time control design algorithm which guarantees system performance by accepting certain value of jitter and we use offline scheduling method to limit the value of jitter and delay based on jitter margin calculations. Offline scheduling is done using simulated annealing algorithm. Finally slot shifting algorithm can be used to make the scheduling flexible. The proposed algorithm is suitable for both discrete-time controller design and continues-time controller design.